这次就来说说基于上一节介绍的系统框图去建立我们所需要的任务，顺便学习Raw-OS提供的API，根据上节的分析，对于Slave Board有如下设计：
Slave Board有三个任务，分别负责测试阻抗，电压，电流功能，至于底层实现先不管，先把任务框架设计出来~
对于任务相关的操作，Raw-OS提供一组API操作，用到什么解释什么，说多了都是泪~
首先建立任务用到的API是raw_task_create，详细的解释见下文~
/*
************************************************************************************************************************
* Create a task
*
* Description: This function is called to create a task.
*
* Arguments : task_obj is a pointer to the RAW_TASK_OBJ.
* ------
* task_name is a string name assigned to a task
* ------
* task_arg is an argument passing to task
* ------
* task_prio is a priority to task, smalled priority is higher priority
* -------
* time_slice is run time slice tick to task, assign to 0 means it will accept default slice time
* -------
* task_stack_base is a low address of memory
* ------
* stack_size is the number of stack elements of this task
* ------
* task_entry is the entry of this task
* ------
* auto_start is the flag to activate task:
* RAW_AUTO_START 1
* RAW_DONT_START 0
*
* Returns : RAW_IDLE_EXIT the idle priority should only be created once.
* -----
* RAW_OS_STOPPED raw os has not been started yet
* -----
* RAW_SUCCESS raw os return success.
*
* Note(s) :
*
*
************************************************************************************************************************
*/
#if (CONFIG_RAW_TASK_CREATE > 0)
RAW_U16 raw_task_create(RAW_TASK_OBJ *task_obj, RAW_U8 *task_name, RAW_VOID *task_arg,
RAW_U8 task_prio, RAW_U32 time_slice, PORT_STACK *task_stack_base,
RAW_U32 stack_size, RAW_TASK_ENTRY task_entry, RAW_U8 auto_start)
首先，建立任务所需要的参数，包括：任务优先级，任务堆栈，任务对象，任务时间片~
/* tasks parameters */ #define IMPEDANCE_PRIO 10 #define IMPEDANCE_SLICE 100 #define VOLTAGE_PRIO 10 #define VOLTAGE_SLICE 100 #define CURRENT_PRIO 10 #define CURRENT_SLICE 100 /* task stack */ PORT_STACK impedance_stack[TASK_STK_SIZE]; PORT_STACK voltage_stack[TASK_STK_SIZE]; PORT_STACK current_stack[TASK_STK_SIZE]; /* task instance */ RAW_TASK_OBJ taskMeasureImpedance_obj; RAW_TASK_OBJ taskMeasureVoltage_obj; RAW_TASK_OBJ taskMeasureCurrent_obj;
那么，首先建立slave_board.c把slave_board的任务建立好~3个任务~
/* taskMeasureImpedance function */
void taskMeasureImpedance(void *pParam){
/* taskMeasureImpedance loop */
while(1){
}
}
/* taskMeasureVoltage function */
void taskMeasureVoltage(void *pParam){
/* taskMeasureVoltage loop */
while(1){
}
}
/* taskMeasureCurrent function */
void taskMeasureCurrent(void *pParam){
/* taskMeasureCurrent loop */
while(1){
}
}
顺利建立好3个任务之后，封装到到一个专门负责slave任务建立的函数中~
int slaveTaskInit(void){
RAW_U32 resultImpedance = -1;
RAW_U32 resultVoltage = -1;
RAW_U32 resultCurrent = -1;
raw_printk("
");
raw_printk("====== Slave Board Tasks Setup ======
");
/* Creat taskMeasureImpedance */
resultImpedance = raw_task_create(&taskMeasureImpedance_obj, "taskMeasureImpedance", NULL,
IMPEDANCE_PRIO, IMPEDANCE_SLICE, impedance_stack, TASK_STK_SIZE, taskMeasureImpedance, 0);
if(resultImpedance == RAW_OS_STOPPED){
raw_printk("creat taskMeasureImpedance successful ...
");
}
else{
raw_printk("creat taskMeasureImpedance faild with error code : %x ...
", resultImpedance);
RAW_ASSERT(0)
}
/* Creat taskMeasureVoltage */
resultVoltage = raw_task_create(&taskMeasureVoltage_obj, "taskMeasureVoltage", NULL,
VOLTAGE_PRIO, VOLTAGE_SLICE, voltage_stack, TASK_STK_SIZE, taskMeasureVoltage, 0);
if(resultVoltage == RAW_OS_STOPPED){
raw_printk("creat taskMeasureVoltage successful ...
");
}
else{
raw_printk("creat taskMeasureVoltage faild with error code : %x ...
", resultVoltage);
RAW_ASSERT(0)
}
/* Creat taskMeasureCurrent */
resultCurrent = raw_task_create(&taskMeasureCurrent_obj, "taskMeasureCurrent", NULL,
CURRENT_PRIO, CURRENT_SLICE, current_stack, TASK_STK_SIZE, taskMeasureCurrent, 0);
if(resultCurrent == RAW_OS_STOPPED){
raw_printk("creat taskMeasureCurrent successful ...
");
}
else{
raw_printk("creat taskMeasureCurrent faild with error code : %x ...
", resultCurrent);
RAW_ASSERT(0)
}
raw_printk("
");
return 0;
}
对于master board也有相似的过程~建立master board任务如下：
对应slave board任务建立的过程，编写master board任务，并且最后封装到负责master任务建立的函数~
#include "application.h"
#define TASK_STK_SIZE 512
/* tasks parameters */
#define KEY_MSG_PROCESS_PRIO 10
#define KEY_MSG_PROCESS_SLICE 100
#define MASTER_SEND_CMD_PRIO 10
#define MASTER_SEND_CMD_SLICE 100
#define GET_MEASURE_MSG_PRIO 10
#define GET_MEASURE_MSG_SLICE 100
#define LCD_DISP_PRIO 10
#define LCD_DISP_SLICE 100
#define SD_STORE_PRIO 10
#define SD_STORE_SLICE 100
/* task stack */
PORT_STACK key_msg_process_stack[TASK_STK_SIZE];
PORT_STACK master_send_cmd_stack[TASK_STK_SIZE];
PORT_STACK get_measure_msg_stack[TASK_STK_SIZE];
PORT_STACK lcd_disp_stack[TASK_STK_SIZE];
PORT_STACK sd_store_stack[TASK_STK_SIZE];
/* task instance */
RAW_TASK_OBJ taskKeyMsgProcess_obj;
RAW_TASK_OBJ taskMasterSendCmd_obj;
RAW_TASK_OBJ taskGetMeasureMsg_obj;
RAW_TASK_OBJ taskLcdDisp_obj;
RAW_TASK_OBJ taskSdStore_obj;
/* taskKeyMsgProcess function */
void taskKeyMsgProcess(void *pParam){
/* taskKeyMsgProcess loop */
while(1){
}
}
/* taskMasterSendCmd function */
void taskMasterSendCmd(void *pParam){
/* taskMasterSendCmd loop */
while(1){
}
}
/* taskGetMeasureMsg function */
void taskGetMeasureMsg(void *pParam){
/* taskGetMeasureMsg loop */
while(1){
}
}
/* taskLcdDisp function */
void taskLcdDisp(void *pParam){
/* taskLcdDisp loop */
while(1){
}
}
/* taskSdStore function */
void taskSdStore(void *pParam){
/* taskSdStore loop */
while(1){
}
}
int masterTaskInit(void){
RAW_U32 resultKeyMsgProcess = -1;
RAW_U32 resultMasterSendCmd = -1;
RAW_U32 resultGetMeasureMsg = -1;
RAW_U32 LcdDisp = -1;
RAW_U32 SdStore = -1;
raw_printk("
");
raw_printk("====== Master Board Tasks Setup ======
");
/* Creat KeyMsgProcess */
resultKeyMsgProcess = raw_task_create(&taskKeyMsgProcess_obj, "taskKeyMsgProcess", NULL,
KEY_MSG_PROCESS_PRIO, KEY_MSG_PROCESS_SLICE, key_msg_process_stack, TASK_STK_SIZE, taskKeyMsgProcess, 0);
if(resultKeyMsgProcess == RAW_OS_STOPPED){
raw_printk("creat KeyMsgProcess successful ...
");
}
else{
raw_printk("creat KeyMsgProcess faild with error code : %x ...
", resultKeyMsgProcess);
RAW_ASSERT(0)
}
/* Creat MasterSendCmd */
resultMasterSendCmd = raw_task_create(&taskMasterSendCmd_obj, "taskMasterSendCmd", NULL,
MASTER_SEND_CMD_PRIO, MASTER_SEND_CMD_SLICE, master_send_cmd_stack, TASK_STK_SIZE, taskMasterSendCmd, 0);
if(resultMasterSendCmd == RAW_OS_STOPPED){
raw_printk("creat taskMasterSendCmd successful ...
");
}
else{
raw_printk("creat taskMasterSendCmd faild with error code : %x ...
", resultMasterSendCmd);
RAW_ASSERT(0)
}
/* Creat taskGetMeasureMsg */
resultGetMeasureMsg = raw_task_create(&taskGetMeasureMsg_obj, "taskGetMeasureMsg", NULL,
GET_MEASURE_MSG_PRIO, GET_MEASURE_MSG_SLICE, get_measure_msg_stack, TASK_STK_SIZE, taskGetMeasureMsg, 0);
if(resultGetMeasureMsg == RAW_OS_STOPPED){
raw_printk("creat taskGetMeasureMsg successful ...
");
}
else{
raw_printk("creat taskGetMeasureMsg faild with error code : %x ...
", resultGetMeasureMsg);
RAW_ASSERT(0)
}
/* Creat taskLcdDisp */
LcdDisp = raw_task_create(&taskLcdDisp_obj, "taskLcdDisp", NULL,
LCD_DISP_PRIO, LCD_DISP_SLICE, lcd_disp_stack, TASK_STK_SIZE, taskLcdDisp, 0);
if(LcdDisp == RAW_OS_STOPPED){
raw_printk("creat taskLcdDisp successful ...
");
}
else{
raw_printk("creat taskLcdDisp faild with error code : %x ...
", LcdDisp);
RAW_ASSERT(0)
}
/* Creat taskSdStore */
SdStore = raw_task_create(&taskSdStore_obj, "taskSdStore", NULL,
SD_STORE_PRIO, SD_STORE_SLICE, sd_store_stack, TASK_STK_SIZE, taskSdStore, 0);
if(SdStore == RAW_OS_STOPPED){
raw_printk("creat taskSdStore successful ...
");
}
else{
raw_printk("creat taskSdStore faild with error code : %x ...
", SdStore);
RAW_ASSERT(0)
}
raw_printk("
");
return 0;
}
好了，到此结束了，这次先把任务建立起来，可以下载Raw-OS的kernel看看任务头文件还有那些函数可用，先熟悉熟悉，至于编程练习，可以自行试试，至少一半的函数都用用。
/* 2012-4 Created by jorya_txj
* xxxxxx please added here
*/
#ifndef RAW_TASK_H
#define RAW_TASK_H
typedef RAW_VOID (*RAW_TASK_ENTRY)(RAW_VOID *p_arg);
RAW_U16 raw_task_create(RAW_TASK_OBJ *task_obj, RAW_U8 *task_name, RAW_VOID *task_arg,
RAW_U8 task_prio, RAW_U32 time_slice, PORT_STACK *task_stack_base,
RAW_U32 stack_size, RAW_TASK_ENTRY task_entry, RAW_U8 auto_start);
RAW_U16 raw_disable_sche(void);
RAW_U16 raw_enable_sche(void);
RAW_U16 raw_sleep(RAW_TICK_TYPE dly);
RAW_U16 raw_time_sleep(RAW_U16 hours, RAW_U16 minutes, RAW_U16 seconds, RAW_U32 milli);
#if (CONFIG_RAW_TASK_SUSPEND > 0)
RAW_U16 raw_task_suspend(RAW_TASK_OBJ *task_ptr);
RAW_U16 raw_task_resume(RAW_TASK_OBJ *task_ptr);
RAW_U16 task_suspend(RAW_TASK_OBJ *task_ptr);
RAW_U16 task_resume(RAW_TASK_OBJ *task_ptr);
#endif
#if (CONFIG_RAW_TASK_PRIORITY_CHANGE > 0)
RAW_U16 raw_task_priority_change (RAW_TASK_OBJ *task_ptr, RAW_U8 new_priority, RAW_U8 *old_priority);
#endif
#if (CONFIG_RAW_TASK_DELETE > 0)
RAW_U16 raw_task_delete(RAW_TASK_OBJ *task_ptr);
#endif
#if (CONFIG_RAW_TASK_WAIT_ABORT > 0)
RAW_U16 raw_task_wait_abort(RAW_TASK_OBJ *task_ptr);
#endif
#if (CONFIG_SCHED_FIFO_RR > 0)
RAW_U16 raw_task_time_slice_change(RAW_TASK_OBJ *task_ptr, RAW_U32 new_time_slice);
RAW_U16 raw_set_sched_way(RAW_TASK_OBJ *task_ptr, RAW_U8 policy);
RAW_U16 raw_get_sched_way(RAW_TASK_OBJ *task_ptr, RAW_U8 *policy_ptr);
#endif
RAW_TASK_OBJ *raw_task_identify(void);
#if (CONFIG_RAW_TASK_STACK_CHECK > 0)
RAW_U16 raw_task_stack_check(RAW_TASK_OBJ *task_obj, RAW_U32 *free_stack);
#endif
#if (CONFIG_USER_DATA_POINTER > 0)
RAW_VOID raw_set_task_user_point(RAW_TASK_OBJ *task_ptr, RAW_VOID *user_point, RAW_U32 point_position);
RAW_VOID *raw_get_task_user_point(RAW_TASK_OBJ *task_ptr, RAW_U32 point_position);
#endif
#if (CONFIG_RAW_DEBUG > 0)
RAW_U16 raw_iter_block_task(LIST *object_head, RAW_VOID (*debug_function)(RAW_TASK_OBJ *), RAW_U8 opt);
RAW_U32 raw_get_system_global_space(void);
#endif
#define RAW_TASK_AUTO_START 1
#define RAW_TASK_DONT_START 0
#endif
最后，在linux下openrisc架构验证的信息是这样的：
在Raw-OS的官网下载相关API说明，看看任务相关还有哪些函数可用，小弟也会本着用到再去解释的原则去说明一下，希望大家继续支持Raw-OS发展哈~
好了，下次见，荆轲刺秦王~~~